Use top-left corner as origin in Blender's camera
I've only one time used singular value decomposition with OpenCV

As I understand your question manipulating x0, y0 of the camera's intrinsic parameters (as interactivly possible in the 2nd page of your link) is similar to

import bpy

cam = bpy.data.cameras['Camera']
cam.shift_x += .5
cam.shift_y += .5


If this doesn't help you could try to offset the cameras position:

cam = bpy.data.objects['Camera']
cam.location.x = 0.0
cam.location.y = ...
cam.location.z = ...